Fawkes API  Fawkes Development Version
openrave.cpp
1 
2 /***************************************************************************
3  * openrave.cpp - OpenRave aspect for Fawkes
4  *
5  * Created: Fri Feb 25 15:08:00 2011
6  * Copyright 2011 Bahram Maleki-Fard
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #include <plugins/openrave/aspect/openrave.h>
25 
26 namespace fawkes {
27 
28 /** @class OpenRaveAspect <plugins/openrave/aspect/openrave.h>
29  * Thread aspect create, update, and graph round-robin databases (RRD).
30  * Give this aspect to your thread to access the OpenRave environment,
31  * add robots or objects, path plans for manipulator movement, etc.
32  *
33  * @ingroup Aspects
34  * @author Bahram Maleki-Fard
35  */
36 
37 /** @var fawkes::OpenRaveConnector * OpenRaveAspect::openrave
38  * Manager class to access OpenRave features. It will take care of properly
39  * distributing the work.
40  */
41 
42 /** Constructor. */
44 {
45  add_aspect("OpenRaveAspect");
46 }
47 
48 /** Virtual empty destructor. */
50 {
51 }
52 
53 /** Init OpenRave aspect.
54  * This sets the OpenRave manager to access OpenRave.
55  * It is guaranteed that this is called for an OpenRave Thread before start
56  * is called (when running regularly inside Fawkes).
57  * @param or_manager OpenRaveManager to use
58  */
59 void
60 OpenRaveAspect::init_OpenRaveAspect(OpenRaveConnector *openrave)
61 {
62  this->openrave = openrave;
63 }
64 
65 } // end namespace fawkes
void add_aspect(const char *name)
Add an aspect to a thread.
Definition: aspect.cpp:49
OpenRaveConnector * openrave
Manager class to access OpenRave features.
Definition: openrave.h:43
virtual ~OpenRaveAspect()
Virtual empty destructor.
Definition: openrave.cpp:49
OpenRaveAspect()
Constructor.
Definition: openrave.cpp:43
Interface for a OpenRave connection creator.
Fawkes library namespace.